Rtelligent R60 Manuale utente

R60 User Manual

Digital Stepper Driver R60

User Manual

Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

R60 User Manual

Contents

1. Product overview..........................................................................................................................................1

2.Application environment and installation................................................................................................... 2

2.1Environmental requirement................................................................................................................... 2

2.2Driver installation dimensions............................................................................................................... 2

3.Driver port and connection.......................................................................................................................... 3

3.1Port function description........................................................................................................................ 3

3.2Power supply input................................................................................................................................. 3

3.3Motor connection.................................................................................................................................... 4

3.4Control signal connection...................................................................................................................... 5

3.4.1 PUL, DIR port: connection for pulse command......................................................................... 5

3.4.2 ENA port: used to enable or disable............................................................................................5

3.4.3 Examples for control signal connection...................................................................................... 6

4.The setting of DIP switches and operating parameters.......................................................................... 7

4.1The setting of current............................................................................................................................. 7

4.2The setting of pulse per revolution.......................................................................................................7

4.3Half / full flow selection.......................................................................................................................... 8

5.Driver working status LED indication......................................................................................................... 8

6.Common faults and troubleshooting.......................................................................................................... 8

7.Guarantee Clause.......................................................................................................................................10

R60 User Manual

1. Product overview

Thank you for choosing Rtelligent R series digital stepper driver.

R series stepper driver, which surpasses the performance of common analog stepper driver

comprehensively based on the new 32-bit DSP platform developed by TI, and adopting the

micro-stepping technology and PID current control algorithm design. The R series stepper drivers have

the features of low noise, low vibration, low heating and high-speed high torque output, it is suitable for

most stepper motors by integrated with the micro-stepping technology.

The R60 driver can select the running current and subdivision through the DIP switch. There are 16

subdivisions, 2 acceleration selection, and 8 current selections. It has overvoltage, undervoltage and

overcurrent protection. Its input and output control signals are optically isolated.

Power supply

24 – 48VDC

Output Current

DIP switch setting, 8 options, Up to 5.6 amps（peak value）

Current control

PID current control algorithm

Micro-stepping settings

DIP switch settings, 16 options

Speed range

Use the suitable motor，up to 3000rpm

Resonance suppression

Automatically calculate the resonance point and inhibit the IF

vibration

Parameter adaption

Automatically detect the motor parameter when driver initialize,

optimize the controlling performance

Pulse mode

Support direction & pulse, CW/CCW double pulse

Pulse filtering

2MHz digital signal filter

Idle current

The current is automatically halved after the motor stops running

We hope that our products with excellent performance can help you to complete the sports control

program successfully.

Please read this technical manual before using the products.

R60 User Manual

2. Application environment and installation

2.1 Environmental requirement

Item

Rtelligent R60

Installation environment

Avoid dust, oil and corrosive environment

Vibration

0.5G（4.9m/s2）Max

Operating temperature/humidity

0℃~ 45℃/ 90% RH or less (no condensation)

Storage and transportation temperature:

-10℃~ 70℃

Cooling

Natural cooling / away from the heat source

Waterproof grade

IP54

2.2 Driver installation dimensions

R60 User Manual

2.3 Driver installation requirements

Please install the driver vertically or horizontally, with its front facing forward, top facing upward to

facilitate cooling.

During assembly, avoid drillings and other foreign matters falling inside the driver.

During assembly, please use M3 screw to fix.

When there is vibration source (such as a driller) close to the installation position, please use a vibrating

absorber or a vibration resistant rubber gasket.

When multiple drivers are installed in the control cabinet, please pay attention to reserve enough space

for sufficient heat dissipation. If necessary, you can configure cooling fans to ensure good heat

dissipation conditions in the control cabinet.

3. Driver port and connection

3.1 Port function description

Function

Grade

Definition

Remarks

Power supply

input port

V+

Input DC power positive

DC 24~48V

V-

Input DC power negative

Motor

connection

port

A+

connect two terminals of

motor’s phase-A winding

A-

B+

connect two terminals of

motor’s phase-B winding

B-

Pulse

connection

PUL+

Pulse input interface

3.3 ~ 24V level

compatible

PUL-

DIR+

Direction input interface

DIR-

Enable

connection

ENA+

Enable control interface

ENA-

3.2 Power supply input

The driver's working power is DC power, and the input voltage range is between 24V ~ 48V.

Input power polarity should not be reversed!!!

The driver’s work mode is constant current control. The driver output the voltage to motor by changing

the input power into PWM chopping wave when it is working. In this case, the input power will affect the

performance of driver.

Power selection reference:

R60 User Manual

Voltage:

Stepper motor has the characteristics of torque decrease with the increase of motor speed, and the input

voltage will affect the amplitude of high-speed torque reduction. Properly increasing the voltage of the

input power supply can increase the output torque of the motor at high speed.

Therefore, if you want to get better high-speed performance, pls increase the power supply voltage of

the driver; and for low-speed applications, choosing a slightly smaller voltage can appropriately reduce

the heat of the motor.

Current:

The working process of the driver is to convert the input high-voltage and low-current power supply into

the low-voltage and high-current at both ends of the motor winding. In actual use, the appropriate power

supply should be selected according to the motor model, load torque and other factors.

The effects of regeneration voltage:

When the stepper motor is working, it also retains the characteristics of the generator. When

decelerating, the kinetic energy accumulated by the load will be converted into electrical energy and

superimposed on the driver circuit and input power supply.

Pay attention to the setting of acceleration and deceleration time to protect the driver or power supply.

When the driver is powered off, you will see the driver's LED indicator on when the load is pulled to make

the motor move, which is also affected by this.

3.3 Motor connection

4线电机

A+

A -

B+

B-

8线串联

A+

A -

B+

B-

8线并联

A+

A -

B+

B-

6线串接

A+

A -

B+

B-

6线中心抽头

B+

B-

A+

A -

The matching motor of the R60 driver is the low resistance and low inductance hybrid stepper motor.

The common 2-phase stepper motor’s lead number are 4, 8 and 6.

4-wire motor

8-wire series

8-wire parallel

6-wire series

6-wire center shaft head

R60 User Manual

There is only one connection mode for 4 leads motor.

Series and parallel connection mode are used by 8 leads motor:

When series used, the winding inductance increased. The set of driver current should be about 0.7times

than before. This is suitable for low speed required.

When parallel used, the winding inductance decreased. The set of driver current should be about

1.4times than before. This is suitable for high speed required.

Parallel and central tapping connection mode are used by 6 leads motor:

When parallel used, all the winding connected, and the inductance was higher. This is suitable for low

speed required.

When central tapping used, half of the winding connected, and the inductance was lower. This is suitable

for high speed required.

3.4 Control signal connection

3.4.1 PUL, DIR port: connection for pulse command

The standard R series driver signal interface is in the form of pulse, and R60 can receive two kinds of

pulse command signals.

The upper controller can be the pulse signal generating device, such as PLC, MCU, control card and

controller.

The pulse level that R60 driver can be used: 3.3V-24V (no need to connect resistor)

Pulse and direction (PUL +

DIR)

Double pulse (CW +CCW)

3.4.2 ENA port: used to enable or disable

When the internal optocoupler is off, the driver outputs current to the motor;

When the internal optocoupler is on, the driver will cut off the current of each phase of the motor to make

the motor free, and the step pulse will not be responded.

When the motor is in error state, ENA input can be used to restart the driver. Firstly, the fault is eliminated,

and then a falling edge signal is input to the ENA terminal. The driver can restart the power part and the

motor is excited.

The level logic of the ENA signal can be set to the opposite, with the logic being opposite to the above.

Forward

Reverse

R60 User Manual

3.4.3 Examples for control signal connection

Common Anode

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Vcc

Common Cathode

Vcc

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Vcc

Difference

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Pul+

Pul-

Dir+

Dir-

Ena+

Ena-

Controller

Driver

R60 User Manual

4.The setting of DIP switches and operating parameters

The setting of current Half / Full current option The setting of pulse per revolution

4.1 The setting of current

Peak Current Average Current SW1 SW2 SW3 Remarks

1.4A 1.0A on on on

Other current

can be

customized.

2.1A 1.5A off on on

2.7A 1.9A on off on

3.2A 2.3A off off on

3.8A 2.7A on on off

4.3A 3.1A off on off

4.9A 3.5A on off off

5.6A 4.0A off off off

DIP SW1, SW2, SW3 are used to set current which is output from driver to motor.

Generally, the current setting is the motor rated current. If your system has high request to the heating,

please decrease the current properly to lower the motor’s heating, but at the same time, the output

torque will be lower. If you don’t need the motor running continuous, you can increase the current to

higher the torque. But be minded that the current can not be 1.5times over than the rated current.

4.2 The setting of pulse per revolution

SW5 SW6 SW7 SW8 Remarks

200 on on on on

Other subdivisions can be customized.

400 off on on on

800 on off on on

1600 off off on on

3200 on on off on

6400 off on off on

12800 on off off on

25600 off off off on

1000 on on on off

2000 off on on off

4000 on off on off

5000 off off on off

8000 on on off off

10000 off on off off

20000 on off off Off

25000 off off off off

SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8

Steps/revolution

R60 User Manual

[email protected]

DIP SW5, SW6, SW7, and SW8 are used to set the pulse per revolution required by the motor.

Motor speed = command pulse frequency / pulse per revolution

Motor stroke = number of command pulses / pulse per revolution

4.3 Half / full flow selection

DIP SW4 is used to set the static current value when the motor is stopped

Off means that when the driver's power-on pulse stops, the driver switches the current output to the

motor to half (half current) when it is rotating;

On means that when the driver's power-on pulse stops, the driver maintains the same current output to

the motor as the rotation (full current) ). In general use, SW4 should be set to off, so that the heat of the

motor and driver is reduced, and the reliability is improved.

5. Driver working status LED indication

LED status

Driver status

Green indicator is on for long time

Driver not enabled

Green indicator is flickering

Driver working normally

One green indicator and one red indicator

Driver overcurrent

One green indicator and two red

indicators

Driver input power overvoltage

One green indicator and three red

indicators

The internal voltage of the driver is

wrong

6. Common faults and troubleshooting

Phenomenon

Possible situations

Solutions

Motor does not

work

Power indicator is off

Check the power supply circuit for normal

power supply

The motor rotor is locked but the

motor does not work

Pulse signal is weak; increase the signal

current to 7-16mA

The speed is too slow

Select the right micro-stepping

Driver is protected

Solve the alarm and re-power

Enable signal problem

Pull up or disconnect the enable signal

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